Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock for issuance	22,851,751		18,357,134
Stock-based compensation expense	$ 5,034	$ 10,029
Accelerated units	601,115
Accelerating recognition cost	$ 100
Reversal of stock-based compensation expense	3,500
Research and Development
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	(274)	3,423
Reversal of stock-based compensation expense	1,900
General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	5,308	6,606
Reversal of stock-based compensation expense	1,600
Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized stock-based compensation cost	$ 12,300
Weighted average period of cost expected to be recognized	1 year 10 months 24 days
Total fair value of restricted stock vested	$ 500	$ 1,600
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average period of cost expected to be recognized	1 year 7 months 17 days
Weighted average grant-date fair value of stock options granted		$ 5.18
Unrecognized stock-based compensation expenses	$ 19,400
Number of options, granted	0
2018 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares of common stock issuable upon exercise of outstanding options	64,042
Reserved shares of common stock for issuance	0
2018 Equity Incentive Plan | Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted	6,616,772
2020 Stock Option and Grant Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock issuable upon exercise of outstanding options	8,529,959
2020 Stock Option and Grant Plan | Restricted Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted	5,356,510
2020 Stock Option and Grant Plan | Stock Available For Grant
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock for issuance	12,692,809		4,182,461
2020 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock for issuance	1,621,594
Purchase of common stock under the employee stock purchase plan	0
Stock-based compensation expense	$ 0	$ 100